Multi-jaw synchronous film tearing method and film tearing device

Abstract

This application discloses a multi-claw synchronous film-tearing method applied to a film-tearing device. The film-tearing device includes a motion mechanism and multiple rotating jaws connected to the motion mechanism. The motion mechanism drives the multiple rotating jaws to move simultaneously to tear films from multiple product surfaces. The multi-claw synchronous film-tearing method includes: acquiring position information of the leading ends of the films on multiple product surfaces; based on the position information of the leading ends of the films, controlling a dispensing mechanism to apply adhesive to the surface of the leading ends of the films to cure and form tear-tear protrusions; controlling the motion mechanism to drive the multiple rotating jaws to respectively clamp the tear-tear protrusions on the films; controlling the motion mechanism to drive the multiple rotating jaws holding the tear-tear protrusions to rotate and move along a preset tear-tear trajectory, so that the films detach from the products along with the tear-tear protrusions and wrap around the tear-tear protrusions. The multi-claw synchronous film-tearing method of this application can improve film-tearing efficiency and reduce the risk of scratching products. This application also discloses a film-tearing device.

Description

Technical Field

[0001] This application relates to the field of automated film-tearing technology, specifically to a multi-claw synchronous film-tearing method and film-tearing device. Background Technology

[0002] Currently, when removing the film pasted on a product, tweezers or grippers are typically used to directly hold the film and tear it off. However, because the film is thin, holding it with tweezers or grippers is very inconvenient, thus affecting the efficiency of film removal. In addition, directly holding the film with tweezers or grippers can easily lead to contact with the product surface, resulting in a higher risk of scratching the product. Summary of the Invention

[0003] In view of the above, it is necessary to propose a multi-claw synchronous film-tearing method and film-tearing device to improve film-tearing efficiency and reduce the risk of scratching the product.

[0004] This application provides a multi-claw synchronous film-tearing method applied to a film-tearing device. The film-tearing device includes a motion mechanism and multiple rotating claws connected to the motion mechanism. The motion mechanism drives the multiple rotating claws to move simultaneously to tear films from multiple product surfaces. The multi-claw synchronous film-tearing method includes: acquiring position information of the leading ends of the films on the multiple product surfaces; based on the position information of the leading ends of the films, controlling a dispensing mechanism to apply adhesive to the leading ends of the films on the product surfaces to cure and form film-tearing protrusions; controlling the motion mechanism to drive the multiple rotating claws to respectively clamp the film-tearing protrusions on the films on the multiple product surfaces; controlling the motion mechanism to drive the multiple rotating claws holding the film-tearing protrusions to rotate and move along a preset film-tearing trajectory, so that the film detaches from the product along with the film-tearing protrusions and wraps around the film-tearing protrusions.

[0005] The multi-claw synchronous film-tearing method of this application realizes the function of automatically and simultaneously tearing the film off multiple products, thereby improving the film-tearing efficiency. In addition, since the film-tearing protrusions protrude from the film, by setting up a motion mechanism to drive multiple rotating claws to grasp the film-tearing protrusions for film tearing, the probability of multiple rotating claws contacting the product surface can be reduced, thereby reducing the risk of scratching the product.

[0006] In some embodiments, the preset tearing trajectory has a synchronization point located between the start and end points of the preset tearing trajectory. The start point of the preset tearing trajectory is the tearing protrusion on the film, and the end point corresponds to the end portion of the film. The step of "controlling the motion mechanism to drive multiple rotating jaws holding the tearing protrusion to rotate and move along the preset tearing trajectory" includes: controlling the motion mechanism to drive multiple rotating jaws holding the tearing protrusion to rotate and move along the preset tearing trajectory from the start point to the synchronization point; monitoring whether the multiple rotating jaws reach the synchronization point; based on the multiple rotating jaws reaching the synchronization point, controlling the motion mechanism to drive the multiple rotating jaws to pause their movement at the synchronization point; monitoring whether the time the multiple rotating jaws pause their movement at the synchronization point reaches a first preset time; based on the time the multiple rotating jaws pause their movement at the synchronization point reaching the first preset time, controlling the motion mechanism to drive the multiple rotating jaws to continue rotating and moving along the preset tearing trajectory towards the end point.

[0007] In some embodiments, the preset tearing trajectory further includes a first tensioning point. The step of "controlling the motion mechanism to drive the multiple rotating jaws holding the tearing protrusion to rotate and move along the preset tearing trajectory" further includes: controlling the motion mechanism to drive the multiple rotating jaws holding the tearing protrusion to move from the starting point to the first tensioning point at a first moving angle, so that the first end of the film moves away from the product; monitoring whether the multiple rotating jaws reach the first tensioning point; based on the multiple rotating jaws reaching the first tensioning point, controlling the motion mechanism to drive the multiple rotating jaws to rotate at the first tensioning point by a first rotation angle; based on the multiple rotating jaws completing the first rotation angle rotation at the first tensioning point, controlling the motion mechanism to drive the multiple rotating jaws to continue moving along the preset tearing trajectory towards the endpoint.

[0008] In some embodiments, the preset tearing trajectory further includes a second tensioning point, and the step of "controlling the motion mechanism to drive the multiple rotating jaws holding the tearing protrusion to rotate and move along the preset tearing trajectory" further includes: based on the multiple rotating jaws completing a first rotation angle rotation at the first tensioning point, controlling the motion mechanism to drive the multiple rotating jaws to move from the first tensioning point to the second tensioning point by a second movement angle; monitoring whether the multiple rotating jaws reach the second tensioning point; based on the multiple rotating jaws reaching the second tensioning point, controlling the motion mechanism to drive the multiple rotating jaws to rotate a second rotation angle at the second tensioning point; based on the multiple rotating jaws completing a second rotation angle rotation at the second tensioning point, controlling the motion mechanism to drive the multiple rotating jaws to continue moving along the preset tearing trajectory towards the endpoint.

[0009] In some embodiments, the preset tearing trajectory also has a turning point, and the step of "controlling the motion mechanism to drive the multiple rotating jaws holding the tearing protrusion to rotate and move along the preset tearing trajectory" further includes: based on the multiple rotating jaws completing the second rotation angle rotation at the second tension point, controlling the motion mechanism to drive the multiple rotating jaws to move from the second tension point to the turning point by a third movement angle; monitoring whether the multiple rotating jaws have reached the turning point; based on the multiple rotating jaws reaching the turning point, controlling the motion mechanism to drive the multiple rotating jaws to rotate and simultaneously continue moving towards the endpoint along the preset tearing trajectory.

[0010] In some embodiments, the first rotation angle ranges from 20 degrees to 40 degrees, and the second rotation angle ranges from 50 degrees to 100 degrees.

[0011] In some embodiments, the preset tearing trajectory further includes multiple corner deceleration points. The starting point, the first tensioning point, the second tensioning point, the turning point, the multiple corner deceleration points, and the endpoint are sequentially connected to form a polygonal preset tearing trajectory. The step of "controlling the motion mechanism to drive multiple rotating jaws holding the tearing protrusion to rotate and move along the preset tearing trajectory" further includes: monitoring whether the multiple rotating jaws have reached the corner deceleration point; based on the multiple rotating jaws reaching the corner deceleration point, controlling the motion mechanism to reduce the speed at which it drives the multiple rotating jaws to move; monitoring whether the time for which the motion mechanism reduces the speed at which it drives the multiple rotating jaws to move reaches a second preset time; based on the time for which the motion mechanism reduces the speed at which it drives the multiple rotating jaws to move reaches the second preset time, controlling the motion mechanism to restore the moving speed of the multiple rotating jaws and continue moving along the preset tearing trajectory towards the endpoint.

[0012] In some embodiments, the preset tearing trajectory further includes an extension point located between the endpoint and the turning point. The step of "controlling the motion mechanism to drive the multiple rotating grippers holding the tearing protrusion to rotate and move along the preset tearing trajectory" further includes: monitoring whether the multiple rotating grippers have reached the endpoint; based on the multiple rotating grippers reaching the endpoint, controlling the motion mechanism to drive the multiple rotating grippers to continue moving along the preset tearing trajectory toward the extension point, so that the end of the film is completely detached from the product.

[0013] This application also provides a film-tearing device, including a motion mechanism, multiple rotating grippers, a position acquisition module, a dispensing mechanism, and a controller. The multiple rotating grippers are connected to the motion mechanism and are used to simultaneously tear films from multiple product surfaces under the action of the motion mechanism. The position acquisition module is used to acquire position information of the leading ends of the films on the multiple product surfaces. The dispensing mechanism is used to apply adhesive to the leading ends of the films on the product surface based on the position information of the leading ends of the films, so as to cure and form tear-off protrusions. The controller is electrically connected to the motion mechanism and the multiple rotating grippers respectively. The controller is used to: control the motion mechanism to drive the multiple rotating grippers on the product surfaces to respectively clamp the tear-off protrusions on the multiple films; control the motion mechanism to drive the multiple rotating grippers holding the tear-off protrusions to rotate and move along a preset tear-off trajectory, so that the film detaches from the product along with the tear-off protrusions and wraps around the tear-off protrusions.

[0014] The film-tearing device of this application embodiment realizes the above-mentioned multi-claw synchronous film-tearing method by setting a position acquisition module, a dispensing mechanism, a motion mechanism, multiple rotating grippers and a controller, which can improve film-tearing efficiency and reduce the risk of scratching the product.

[0015] In some embodiments, each of the plurality of rotating grippers includes a clamping drive assembly, a first clamping member, and a second clamping member; the clamping drive assembly is connected to the motion mechanism to move and rotate under the drive of the motion mechanism; the first clamping member is connected to the clamping drive assembly; the second clamping member is connected to the clamping drive assembly and is disposed opposite to the first clamping member, wherein the first clamping member and the second clamping member are used to move closer to or further away from each other under the drive of the clamping drive assembly to clamp or release the tear film protrusion. Attached Figure Description

[0016] Figure 1 This is a flowchart of the multi-claw synchronous film-tearing method provided in the embodiments of this application.

[0017] Figure 2This is a schematic diagram of the control logic of the film-tearing device provided in the embodiments of this application.

[0018] Figure 3 This is a three-dimensional structural diagram of the product and film provided in the embodiments of this application.

[0019] Figure 4 yes Figure 2 The diagram shows a three-dimensional structure of the motion mechanism and multiple rotating grippers in the film-tearing device.

[0020] Figure 5 yes Figure 4 A three-dimensional structural diagram of the rotating drive component and rotating gripper in the motion mechanism shown.

[0021] Figure 6 yes Figure 5 The diagram shows a three-dimensional structure of the rotating gripper in which the fixing member, the first clamping member, the second clamping member, the first support member, and the second support member cooperate.

[0022] Figure 7 yes Figure 5 An exploded view of the fixed component, first clamping component, second clamping component, first support component, and second support component in the rotating gripper shown.

[0023] Figure 8 yes Figure 5 A top view of the first clamping member, second clamping member, first support member, and second support member in the rotating gripper shown, when supporting the wound film.

[0024] Figure 9 yes Figure 5 A top view of the first clamping member, second clamping member, first support member, and second support member in the rotating gripper shown, when detached from the wound film.

[0025] Explanation of main component symbols

[0026] Film tearing device 100

[0027] Location acquisition module 20

[0028] Dispensing mechanism 30

[0029] Sports institutions 40

[0030] First linear module 41

[0031] Second linear module 42

[0032] Third linear module 43

[0033] Rotary drive component 44

[0034] Rotary gripper 50

[0035] Clamping drive assembly 52

[0036] Clamping drive 521

[0037] Fastener 522

[0038] Installation block 5221

[0039] First mounting hole 5221a

[0040] Connector block 5222

[0041] Mounting slot 5222a

[0042] Second mounting hole 5222b

[0043] First clamping component 53

[0044] First connecting part 531

[0045] Connection hole 5311

[0046] Socket 5312

[0047] 5313 clearance slot

[0048] First clamping part 532

[0049] Clamping protrusion 5321

[0050] Avoiding curved surfaces 5322

[0051] Second clamping component 54

[0052] Second connecting part 541

[0053] Avoid gap 5411

[0054] Second clamping part 542

[0055] First support component 55

[0056] First extension 551

[0057] First Support Section 552

[0058] Supporting curved surface 5521

[0059] Support protrusion 5521a

[0060] Second support component 56

[0061] Second extension 561

[0062] Second support section 562

[0063] Controller 60

[0064] Product 700

[0065] Film 800

[0066] Film tear protrusion 810 Detailed Implementation

[0067] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0068] In the description of this application, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, it should be noted that "a plurality of" means two or more, unless otherwise explicitly and specifically defined.

[0069] In the description of this application, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows communication between the components; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0070] The following will describe some embodiments of this application in detail with reference to the accompanying drawings.

[0071] Please see Figure 1 , Figure 2 , Figure 3 and Figure 4This application provides a multi-claw synchronous film-removing method applied to a film-removing device 100 for removing a thin film 800 from the surface of a product 700. The product 700 can be the casing, screen, or frame of an electronic device such as a mobile phone or tablet. The thin film 800 can be attached to the product 700 by adhesive, electrostatic adsorption, or other methods. For ease of explanation and understanding, this application uses a mobile phone casing as the product 700, a protective film 800, and an example of the film 800 being adhered to the surface of the product 700 by adhesive. Obviously, this is not a limitation of this application.

[0072] In this embodiment, the film-tearing device 100 includes a support mechanism (not shown), a position acquisition module 20, a dispensing mechanism 30, a motion mechanism 40, multiple rotating grippers 50, and a controller 60.

[0073] The position acquisition module 20, the dispensing mechanism 30, and the motion mechanism 40 are spaced apart from the carrying mechanism, which is used to clamp and position multiple products 700.

[0074] The position acquisition module 20 is used to acquire the position information of the leading ends of the films 800 on the surfaces of multiple products 700. The dispensing mechanism 30 is used to apply adhesive to the surface of the leading ends of the films 800 on the surface of the products 700 based on the position information of the leading ends of the films 800, so that it can be cured to form tear-off protrusions 810. Multiple rotating grippers 50 are connected to the motion mechanism 40, and the motion mechanism 40 drives the multiple rotating grippers 50 to move to simultaneously tear off the films 800 from the surfaces of multiple products 700.

[0075] The controller 60 is electrically connected to the position acquisition module 20, the dispensing mechanism 30, the motion mechanism 40, and multiple rotating grippers 50. The controller 60 is used to: control the dispensing mechanism 30 to apply glue to the surface of the first end of the film 800 on the surface of the product 700 based on the position information of the first end of the film 800 so as to cure and form a tear-off protrusion 810; control the motion mechanism 40 to drive the multiple rotating grippers 50 to clamp the tear-off protrusions 810 on the surface of the film 800 of the product 700 respectively; control the motion mechanism 40 to drive the multiple rotating grippers 50 holding the tear-off protrusions 810 to rotate and move along a preset tear-off trajectory so that the film 800 is detached from the product 700 along with the tear-off protrusions 810 and is wrapped around the tear-off protrusions 810.

[0076] The supporting mechanism can be a positioning fixture, the motion mechanism 40 can be an XYZ moving platform or a multi-axis robotic arm, and the position acquisition module 20 can be a CCD camera. The position acquisition module 20 can acquire the position information of the leading ends of the films 800 on the surfaces of multiple products 700 by taking pictures, and can also acquire the position information of multiple rotating grippers 50 by taking pictures. The position acquisition module 20 can also be a sensor, specifically, the sensor senses the position information of the leading ends of the films 800 on the surfaces of products 700. The dispensing mechanism 30 can include a glue tank (not shown), a control valve (not shown), and a dispensing needle (not shown) connected in sequence in fluid connection. The controller 60 can be a PLC, and the controller 60 mainly provides calculation, data processing, and control functions for the entire film-tearing device 100.

[0077] In this embodiment, the multi-claw synchronous film-tearing method is applied to the above-mentioned film-tearing device 100, and includes the following steps:

[0078] Step S1: Obtain the position information of the first end of the film 800 on the surface of multiple products 700.

[0079] Specifically, the location acquisition module 20 acquires the position information of the front end of the film 800 on the surface of multiple products 700 by taking pictures and sensing.

[0080] In some other embodiments, since the positions of the multiple products 700 are relatively fixed after being clamped onto the carrier mechanism, the position information of the first ends of the thin film 800 on the surface of the multiple products 700 can be input to the controller 60 through a display screen, keyboard or other devices.

[0081] Step S2: Based on the position information of the first end of the film 800, control the dispensing mechanism 30 to apply adhesive to the surface of the first end of the film 800 on the surface of the product 700 so as to cure and form the tear-off protrusion 810.

[0082] Specifically, after the position acquisition module 20 acquires the position information of the first ends of the film 800 on the surface of multiple products 700, the position acquisition module 20 sends the position information of the first ends of the film 800 on the surface of multiple products 700 to the controller 60. The controller 60 controls the dispensing mechanism 30 to apply glue to the surface of the first ends of the film 800 on the surface of the product 700 so as to cure and form a tear-off protrusion 810.

[0083] In one embodiment, in order to improve the efficiency and quality of the adhesive curing to form the tear-off protrusion 810, a UV (Ultraviolet) curing device can also be provided to cure the adhesive applied by the dispensing mechanism 30 to the surface of the first end of the film 800.

[0084] Step S3: Control the motion mechanism 40 to drive multiple rotating grippers 50 to clamp the tear-off protrusions 810 on the film 800 of multiple products 700 respectively.

[0085] Specifically, the film-tearing device 100 may also include a robotic arm (not shown). The robotic arm places multiple products 700 with attached film 800 and film-tearing protrusions 810 on a support mechanism under multiple rotating grippers 50. The controller 60 controls the motion mechanism 40 to drive the multiple rotating grippers 50 to approach the film-tearing protrusions 810 on the surface of the multiple products 700, and then controls the multiple rotating grippers 50 to open and close and clamp the film-tearing protrusions 810 on the multiple films 800 respectively.

[0086] In step S4, the control motion mechanism 40 drives multiple rotating jaws 50 holding the tear-off protrusions 810 to rotate and move along a preset tear-off trajectory, so that the film 800 is separated from the product 700 along with the tear-off protrusions 810 and wrapped around the tear-off protrusions 810.

[0087] Specifically, the preset tear-off trajectory can be input by the user, or it can be generated by a sensor or camera recognizing the shape of the film 800 adhering to the surface of the product 700 and generating it according to preset rules. Specifically, the preset tear-off trajectory is generated by offsetting the shape of the film 800 adhering to the surface of the product 700 by a preset distance. The preset tear-off trajectory is the same as or similar to the shape of the film 800 adhering to the surface of the product 700. When the controller 60 controls the multiple rotating grippers 50 to open and close and respectively clamp the tear-off protrusions 810 on the multiple films 800, the controller 60 controls the motion mechanism 40 to drive the multiple rotating grippers 50 holding the tear-off protrusions 810 to rotate and move along the preset tear-off trajectory. Under the action of the rotating grippers 50, the film 800 gradually detaches from the corresponding product 700 and wraps around the corresponding tear-off protrusion 810.

[0088] Although the movement trajectory of the multiple rotating grippers 50 driven by the motion mechanism 40 is consistent, the rotation speed of the multiple rotating grippers 50 may have slight differences. This results in differences in the length of the film 800 torn by the rotating grippers 50 at the same position and / or the tightness of the film 800 rolled around the tearing protrusion 810 when the multiple rotating grippers 50 travel a long distance. To solve this problem, in this embodiment, a synchronization point is provided on the preset tearing trajectory, located between the start and end points of the preset tearing trajectory. The start point of the preset tearing trajectory is the tearing protrusion 810 on the film 800, and the end point of the preset tearing trajectory corresponds to the end of the film 800. Optionally, the tearing protrusion 810 on the film 800 and the end of the film 800 may not coincide, or they may coincide. When the tearing protrusion 810 on the film 800 coincides with the end of the film 800, the start and end points of the preset tearing trajectory are the same.

[0089] Step S4, "controlling the motion mechanism 40 to drive the rotating jaws 50 of multiple grippers holding the tear-off film protrusions 810 to rotate and move along the preset tear-off film trajectory," specifically includes:

[0090] In step S441, the motion control mechanism 40 drives the rotating jaws 50 of multiple grippers holding the tear-off film protrusions 810 to rotate and move from the starting point to the synchronization point along the preset tear-off film trajectory.

[0091] Specifically, such as Figure 3 As shown, the starting point and ending point of the preset film tearing trajectory are points s and f, respectively, and the synchronization point is point e. The controller 60 controls the motion mechanism 40 according to the preset film tearing trajectory to drive the multiple rotating grippers 50 holding the film tearing protrusions 810 to rotate and move from the starting point to the synchronization point along the preset film tearing trajectory.

[0092] Step S442: Monitor whether the multiple rotating grippers 50 have reached the synchronization point.

[0093] Specifically, the film-tearing device 100 also includes a timing module (not shown). The controller 60 controls the timing module to monitor the time it takes for the multiple rotating grippers 50 to move from the starting point to the synchronization point. If the time taken for the multiple rotating grippers 50 to move from the starting point to the synchronization point reaches a preset time, it can be determined that the synchronization point has been reached; otherwise, it has not been reached. Of course, in other embodiments, the controller 60 can also monitor whether the multiple rotating grippers 50 have reached the synchronization point based on the image information of the multiple rotating grippers 50 acquired in real time by the position acquisition module 20. There can be one or multiple timing modules, and each timing module can independently monitor the movement time of the multiple rotating grippers 50 at each position. The timing module can be a separate chip or integrated into the controller 60.

[0094] In step S443, based on the fact that multiple rotating grippers 50 have reached the synchronization point, the control motion mechanism 40 drives the multiple rotating grippers 50 to pause their movement at the synchronization point.

[0095] Specifically, when the controller 60 detects that multiple rotating grippers 50 have reached the synchronization point, the control motion mechanism 40 drives the multiple rotating grippers 50 to pause their movement at the synchronization point, but at this time the multiple rotating grippers 50 continue to rotate.

[0096] Step S444: Monitor whether the time during which the multiple rotating grippers 50 pause at the synchronization point reaches the first preset time.

[0097] Specifically, the timing module monitors whether the time for which multiple rotating grippers 50 pauses movement at the synchronization point reaches the first preset time.

[0098] In step S445, based on the fact that the time for which the multiple rotating grippers 50 pauses at the synchronization point reaches a first preset time, the motion control mechanism 40 drives the multiple rotating grippers 50 to continue rotating along the preset film-tearing trajectory and move towards the endpoint.

[0099] Specifically, when the timing module detects that the time for which multiple rotating grippers 50 pauses at the synchronization point reaches the first preset time, the controller 60 controls the motion mechanism 40 to drive the multiple rotating grippers 50 to continue rotating along the preset film-tearing trajectory and move towards the endpoint.

[0100] The multi-claw synchronous film-tearing method of this embodiment, by setting the motion mechanism 40 to drive multiple rotating claws 50 to pause their movement at the synchronization point and continue to rotate, can make the length of the film 800 torn by the multiple rotating claws 50 at the synchronization point and the tightness of the film 800 rolled around the film-tearing protrusion 810 tend to be consistent or the difference reduced. This can effectively prevent the difference in the length of the film 800 torn by the multiple rotating claws 50 and the tightness of the film 800 rolled around the film-tearing protrusion 810 from further expanding, thereby helping to reduce the probability of the motion mechanism 40 driving the multiple rotating claws 50 to tear the film 800.

[0101] In this embodiment, the first preset time ranges from 0.5 seconds to 1 second. Because the first preset time is relatively short, the probability of the film 800 breaking due to excessive pulling of the multiple rotating grippers 50 at the synchronization point can be effectively reduced.

[0102] Optionally, the synchronization point is located at half or two-thirds of the distance between the start and end points of the preset film-tearing trajectory. This avoids further widening of the differences in length and tightness of the film 800 torn by the multiple rotating grippers 50 too early or too late, thereby reducing the probability that the motion mechanism 40 will drive the multiple rotating grippers 50 to tear the film 800.

[0103] In other embodiments, when the length of the preset tearing trajectory is long, multiple synchronization points can be set at intervals between the start and end points of the preset tearing trajectory. Of course, other positions can also be used. Other positions can be calculated and determined based on the rotation speed and travel distance of the rotating gripper 50, etc. This application embodiment does not specifically limit this.

[0104] In one embodiment, the preset tearing trajectory also has a first tensioning point, and step S4, "controlling the motion mechanism 40 to drive the multiple rotating jaws 50 holding the tearing protrusions 810 to rotate and move along the preset tearing trajectory," specifically includes:

[0105] In step S411, the motion control mechanism 40 drives the rotating jaws 50 of multiple gripping and tearing film protrusions 810 to move from the starting point to the first tensioning point at a first moving angle, so that the first end of the film 800 is away from the product 700.

[0106] Specifically, such as Figure 3As shown, the first tensioning point is point L1. The first tensioning point is located near the starting point and offset from the surface of product 700, and is situated between the starting point and the synchronization point. When the controller 60 controls the motion mechanism 40 to drive multiple rotating grippers 50 to respectively clamp the tear-off protrusions 810 on multiple films 800, the controller 60 controls the motion mechanism 40 to drive the multiple rotating grippers 50 holding the tear-off protrusions 810 to move from the starting point towards the first tensioning point at a first moving angle. At this time, the motion mechanism 40 does not drive the multiple rotating grippers 50 to rotate at a constant speed, and the multiple rotating grippers 50 cause the corresponding ends of the films 800 to detach from product 700. The first moving angle is an acute angle.

[0107] Step S412: Monitor whether the multiple rotating jaws 50 have reached the first tension point.

[0108] Specifically, the controller 60 controls the timing module to monitor the time it takes for the multiple rotating grippers 50 to move from the starting point to the first tensioning point. If the time taken for the multiple rotating grippers 50 to move from the starting point to the first tensioning point reaches a preset time, it can be determined that the first tensioning point has been reached; otherwise, it has not been reached. Alternatively, the controller 60 can also control the position acquisition module 20 to acquire image information of the multiple rotating grippers 50 in real time to analyze whether the multiple rotating grippers 50 have reached the first tensioning point. Optionally, during the movement of the multiple rotating grippers 50 from the starting point to the first tensioning point, the multiple rotating grippers 50 do not rotate; they only move in a straight line.

[0109] In step S413, based on the fact that the multiple rotating grippers 50 have reached the first tension point, the motion control mechanism 40 drives the multiple rotating grippers 50 to rotate by a first rotation angle at the first tension point.

[0110] Specifically, the timing module detects that multiple rotating grippers 50 have reached the first tension point, and the controller 60 controls the motion mechanism 40 to drive the multiple rotating grippers 50 to rotate at the first tension point by a first rotation angle. The first rotation angle is 10 degrees to 50 degrees, and optionally, the first rotation angle is 30 degrees.

[0111] In step S414, based on the first rotation angle completed by the multiple rotating grippers 50 at the first tensioning point, the control motion mechanism 40 drives the multiple rotating grippers 50 to continue moving towards the endpoint along the preset film tearing trajectory.

[0112] Specifically, when the controller 60 controls the motion mechanism 40 to drive multiple rotating jaws 50 to rotate at the first tension point by a first rotation angle, the controller 60 controls the motion mechanism 40 to drive multiple rotating jaws 50 to continue moving towards the synchronization point or the endpoint along the preset film tearing trajectory.

[0113] Optionally, the speed at which the multiple rotating grippers 50 move from the starting point to the first tensioning point is less than or equal to the speed at which they move from the first tensioning point to the synchronization point or the end point, thereby facilitating the slow tearing of the film 800. Optionally, the speed at which the multiple rotating grippers 50 move from the starting point to the first tensioning point is 5 mm / s-20 mm / s, and the speed at which the multiple rotating grippers 50 move from the first tensioning point to the synchronization point or the end point is 20 mm / s.

[0114] Because the adhesive force between the tear-off protrusion 810 and the film 800 is relatively small, if the rotating jaw 50 rotates at a constant speed while holding the corresponding tear-off protrusion 810, the large pulling force generated by the rotation of the rotating jaw 50 and the adhesive force between the film 800 and the product 700 will be directly and quickly transmitted to the tear-off protrusion 810 and the film 800, thereby increasing the risk of the tear-off protrusion 810 and the film 800 breaking. By setting the motion mechanism 40 to drive the multiple rotating jaws 50 holding the tear-off film protrusion 810 to move to the first tension point, the multiple rotating jaws 50 rotate by a first rotation angle, which can make the multiple rotating jaws 50 slowly tear open the first end of the film 800 and make the first end of the film 800 adhere to the corresponding rotating jaw 50. When the multiple rotating jaws 50 rotate, the pulling force generated by the rotation of the rotating jaws 50 and the adhesive force between the film 800 and the product 700 are not on the same line, thereby reducing the magnitude of the force between the tear-off film protrusion 810 and the film 800, and thus reducing the risk of the tear-off film protrusion 810 and the film 800 breaking.

[0115] In this embodiment, the range of the first moving angle is 20 degrees to 60 degrees, and the range of the distance between the first tensioning point and the starting point is 3 mm to 7 mm. Optionally, the distance between the first tensioning point and the starting point is 5 mm.

[0116] In this embodiment, the preset tearing trajectory also has a second tensioning point. Step S4, "controlling the motion mechanism 40 to drive the multiple rotating jaws 50 holding the tearing protrusions 810 to rotate and move along the preset tearing trajectory," specifically includes:

[0117] Step S421: Based on the fact that multiple rotating grippers 50 have completed a first rotation angle at the first tensioning point, the control motion mechanism 40 drives the multiple rotating grippers 50 to move from the first tensioning point to the second tensioning point at a second movement angle.

[0118] Specifically, such as Figure 3As shown, the second tension point is point L2, located on the side of the first tension point away from the starting point. When the controller 60 controls the motion mechanism 40 to drive the multiple rotating jaws 50 to complete the first rotation angle at the first tension point, the control motion mechanism 40 drives the multiple rotating jaws 50 to move from the first tension point to the second tension point at a second movement angle. During the movement of the rotating jaws 50 from the first tension point to the second tension point at the second movement angle, the multiple rotating jaws 50 do not rotate, but only move in a straight line, so that the multiple rotating jaws 50 can drive the corresponding film 800 to tear a longer length from the product 700.

[0119] Step S422: Monitor whether the multiple rotating jaws 50 have reached the second tension point.

[0120] Specifically, the controller 60 controls the timing module to monitor the movement time of multiple rotating grippers 50 from the starting point or the first tensioning point to the second tensioning point. If the movement time of multiple rotating grippers 50 to the second tensioning point is the same as the preset time, it can be determined that the second tensioning point has been reached; otherwise, it has not been reached. Of course, the controller 60 can also analyze whether multiple rotating grippers 50 have reached the second tensioning point based on the image information of multiple rotating grippers 50 acquired in real time by the position acquisition module 20.

[0121] In step S423, based on the fact that the multiple rotating grippers 50 have reached the second tension point, the motion control mechanism 40 drives the multiple rotating grippers 50 to rotate by a second rotation angle at the second tension point.

[0122] Specifically, the timing module detects that multiple rotating jaws 50 have reached the second tension point, and the controller 60 controls the motion mechanism 40 to drive the multiple rotating jaws 50 to rotate at the second tension point by a second rotation angle.

[0123] In step S424, based on the second rotation angle completed by the multiple rotating grippers 50 at the second tension point, the control motion mechanism 40 drives the multiple rotating grippers 50 to continue moving towards the endpoint along the preset film tearing trajectory.

[0124] Specifically, when the controller 60 controls the motion mechanism 40 to drive multiple rotating jaws 50 to complete the second rotation angle at the second tensioning point, the controller 60 controls the motion mechanism 40 to drive multiple rotating jaws 50 to continue moving towards the endpoint along the preset film tearing trajectory.

[0125] The multi-claw synchronous film-tearing method of this application embodiment, by setting a motion mechanism 40 to drive multiple rotating claws 50 holding the film-tearing protrusion 810 to move to the second tension point, drives the multiple rotating claws 50 to rotate by a second rotation angle, so that the film 800 has a sufficient length to be rolled on the rotating claws 50. When the multiple rotating claws 50 rotate, the magnitude of the force between the film-tearing protrusion 810 and the film 800 can be further reduced, thereby further reducing the risk of breakage between the film-tearing protrusion 810 and the film 800.

[0126] In this embodiment, the range of the second moving angle is 0 degrees to 30 degrees, and the range of the distance between the second tensioning point and the first tensioning point is 8mm to 12mm, which can be selected as 10mm.

[0127] In this embodiment, the second rotation angle is in the range of 50 degrees to 100 degrees, preferably 60 degrees or 90 degrees, which facilitates the gradual application of the first end of the torn film 800 to the corresponding rotating jaw 50, thereby helping to reduce the risk of the tearing protrusion 810 breaking from the film 800.

[0128] In this embodiment, the preset tearing trajectory also has a turning point. Step S4, "controlling the motion mechanism 40 to drive the multiple rotating grippers 50 holding the tearing protrusions 810 to rotate and move along the preset tearing trajectory", specifically includes:

[0129] Step S431: Based on the second rotation angle completed by the multiple rotating grippers 50 at the second tension point, the motion control mechanism 40 drives the multiple rotating grippers 50 to move from the second tension point to the turning point at a third movement angle.

[0130] Specifically, such as Figure 3 As shown, the turning point is point a, which is located on the side of the second tensioning point away from the first tensioning point. When the controller 60 controls the motion mechanism 40 to drive the multiple rotating jaws 50 to complete the second rotation angle at the second tensioning point, the control motion mechanism 40 drives the multiple rotating jaws 50 to move from the second tensioning point to the turning point at a third movement angle, and they do not rotate during the movement, but only move in a straight line.

[0131] Step S432: Monitor whether the multiple rotating grippers 50 have reached the turning point.

[0132] Specifically, the timing module monitors the movement time of multiple rotating grippers 50 from the starting point, the first tensioning point, or the second tensioning point to the turning point. If the movement time of multiple rotating grippers 50 to the turning point is the same as the preset time, it can be determined that the second tensioning point has been reached; otherwise, it has not been reached. Of course, the controller 60 can also analyze whether the multiple rotating grippers 50 have reached the turning point based on the image information of the multiple rotating grippers 50 acquired in real time by the position acquisition module 20.

[0133] In step S433, based on the fact that multiple rotating grippers 50 have reached the turning point, the motion control mechanism 40 drives the multiple rotating grippers 50 to rotate and simultaneously continue to move towards the endpoint along the preset film tearing trajectory.

[0134] Specifically, when the timing module detects that multiple rotating grippers 50 have reached the turning point, the controller 60 controls the motion mechanism 40 to drive the multiple rotating grippers 50 to rotate at a constant speed and continue to move towards the synchronization point or the end point along the preset film tearing trajectory.

[0135] Because the length of the torn film 800 is relatively short and the direction of movement changes when the multiple rotating grippers 50 reach the turning point, if the motion mechanism 40 is controlled to drive the multiple rotating grippers 50 to rotate at a constant speed before reaching the turning point, the tension generated by the rotation of the rotating grippers 50 will change direction at the turning point, which may easily lead to the tearing protrusion 810 breaking from the film 800. By setting the motion mechanism 40 to drive the multiple rotating grippers 50 holding the tearing protrusion 810 to move to the turning point and then drive the multiple rotating grippers 50 to rotate at a constant speed, the rotating grippers 50 will not generate a large tension due to uniform rotation before the turning point, and the tension generated by the rotation of the rotating grippers 50 after the turning point will remain in the same direction for a longer distance, thereby helping to reduce the risk of the tearing protrusion 810 breaking from the film 800.

[0136] In some embodiments, the third movement angle ranges from -20 degrees to -60 degrees. The vertical distance between the first tensioning point and product 700 is equal to the vertical distance between the second tensioning point and product 700, and the distance between the turning point and product 700 is greater than the vertical distance between the second tensioning point and product 700.

[0137] In some embodiments, the preset tearing trajectory further includes multiple corner deceleration points. The starting point, the first tensioning point, the second tensioning point, the turning point, the multiple corner deceleration points, and the ending point are sequentially connected to form a polygonal preset tearing trajectory. Figure 3 As shown, product 700 is rectangular, and correspondingly, film 800 is also rectangular. Furthermore, the preset tear-off trajectory is roughly rectangular, meaning it includes at least four consecutive vertically connected straight tear-off trajectories. Turning points and corner reduction points are the connections between adjacent straight tear-off trajectories, and these points correspond to the four apex corners of product 700. Optionally, the vertical distance between a turning point and product 700 is equal to the vertical distance between a corner reduction point and product 700.

[0138] Step S4, "controlling the motion mechanism 40 to drive the rotating jaws 50 of multiple gripping and tearing film protrusions 810 to rotate and move along the preset tearing film trajectory," specifically includes:

[0139] Step S451: Monitor whether the multiple rotating grippers 50 have reached the corner deceleration point.

[0140] Specifically, such as Figure 3 As shown, the multiple corner deceleration points are points b, c, and d. The controller 60 controls the timing module to monitor the movement time of the multiple rotating grippers 50 from the starting point, the first tensioning point, the second tensioning point, or the turning point to the corner deceleration point. If the movement time of the multiple rotating grippers 50 to the corner deceleration point is the same as the preset time, it can be determined that the corner deceleration point has been reached; otherwise, it has not been reached. Of course, the controller 60 can also analyze whether the multiple rotating grippers 50 have reached the corner deceleration point based on the image information of the multiple rotating grippers 50 acquired in real time by the position acquisition module 20.

[0141] In step S452, based on the fact that the multiple rotating grippers 50 have reached the corner deceleration point, the motion mechanism 40 is controlled to reduce the speed at which the multiple rotating grippers 50 move.

[0142] Specifically, when the timing module detects that multiple rotating grippers 50 have reached the corner deceleration point, the controller 60 controls the motion mechanism 40 to reduce the speed at which it drives the multiple rotating grippers 50 to move, but the rotation speed of the multiple rotating grippers driven by the motion mechanism 40 remains unchanged. Optionally, the speed at which the motion mechanism 40 drives the multiple rotating grippers 50 to move before the corner deceleration point is 20 mm / s, and when the timing module detects that the multiple rotating grippers 50 have reached the corner deceleration point, the speed at which the motion mechanism 40 drives the multiple rotating grippers 50 to move is reduced to 5 mm / s.

[0143] Step S453: Monitor whether the time for the motion mechanism 40 to reduce the speed of the multiple rotating grippers 50 reaches the second preset time.

[0144] Specifically, the timing module monitors whether the duration for which the motion mechanism 40 reduces the speed of multiple rotating grippers 50 has reached the second preset time.

[0145] Step S454: Based on the second preset time for the motion mechanism 40 to reduce the speed of the multiple rotating grippers 50, the motion mechanism 40 is controlled to restore the moving speed of the multiple rotating grippers 50 and continue to move towards the endpoint along the preset film-tearing trajectory.

[0146] Specifically, when the controller 60 controls the timing module to monitor that the motion mechanism 40 has reduced the speed of the multiple rotating grippers 50 for a period of time until the second preset time is reached, the controller 60 controls the motion mechanism 40 to restore the moving speed of the multiple rotating grippers 50 and continue to move towards the endpoint along the preset film-tearing trajectory.

[0147] Since the motion mechanism 40 needs to turn when it drives the multiple rotating grippers 50 to the corner deceleration point, if the motion mechanism 40 drives the multiple rotating grippers 50 too fast at the corner deceleration point, the rotating grippers 50 are likely to collide with the product 700, damaging both the rotating grippers 50 and the product 700. By setting the motion mechanism 40 to slow down the movement of the multiple rotating grippers 50 when it reaches the corner deceleration point, the risk of collision between the rotating grippers 50 and the product 700 is reduced, as is the risk of scratching the product 700.

[0148] In this embodiment, the range of the second preset time is 0.5 seconds to 1 second.

[0149] In this embodiment, the preset film-tearing trajectory also has an extension point, which is point p (e.g., Figure 3 As shown), the extension point is located between the end point and the turning point. Step S4, "controlling the motion mechanism 40 to drive the rotating jaws 50 of multiple grippers holding the tear-off film protrusions 810 to rotate and move along the preset tear-off film trajectory," specifically also includes:

[0150] Step S461: Monitor whether the multiple rotating grippers 50 have reached the endpoint.

[0151] The controller 60 controls the timing module to monitor the movement time of multiple rotating grippers 50 from the starting point, the first tensioning point, the second tensioning point, the turning point, or the corner deceleration point to the destination. If the movement time of the multiple rotating grippers 50 to the destination is the same as the preset time, it can be determined that the destination has been reached; otherwise, it has not been reached. Of course, the controller 60 can also analyze whether the multiple rotating grippers 50 have reached the destination based on the image information of the multiple rotating grippers 50 acquired in real time by the position acquisition module 20.

[0152] In step S462, based on the fact that the multiple rotating grippers 50 have reached the end point, the control motion mechanism 40 drives the multiple rotating grippers 50 to continue moving along the preset film tearing trajectory toward the extension point, so that the end of the film 800 is completely separated from the product 700.

[0153] Specifically, when the timing module of the controller 60 detects that multiple rotating grippers 50 have reached the end point, the controller 60 controls the motion mechanism 40 to drive the multiple rotating grippers 50 to continue moving along the preset film tearing trajectory towards the extension point, so that the end of the film 800 is completely separated from the product 700.

[0154] If the multiple rotating grippers 50 stop moving after reaching the endpoint, the end of the film 800 may not be completely detached from the product 700. By setting the motion mechanism 40 to drive the multiple rotating grippers 50 to continue moving along the preset film-tearing trajectory to the extension point after reaching the endpoint, the end of the film 800 can be completely detached from the product 700, thereby improving the quality of film tearing.

[0155] In this embodiment, the motion mechanism 40 drives multiple rotating grippers 50 to move from the starting point to the first tensioning point at a speed of 5mm / s-20mm / s. During the process of the motion mechanism 40 driving multiple rotating grippers 50 to move from the first tensioning point to the extension point, the speed can be 20mm / s except at the corner deceleration point. At the corner deceleration point, the speed of the motion mechanism 40 driving multiple rotating grippers 50 is reduced to less than 20mm / s, for example, 15mm / s or 5mm / s.

[0156] In summary, the multi-claw synchronous film-tearing method of this application obtains the position information of the first ends of the films 800 on the surfaces of multiple products 700. Based on the position information of the first ends of the films 800, the dispensing mechanism 30 is controlled to apply adhesive to the surface of the first ends of the films 800 on the surface of the products 700 to solidify and form film-tearing protrusions 810. The motion mechanism 40 is controlled to drive multiple rotating claws 50 to respectively clamp the film-tearing protrusions 810 on the surfaces of multiple products 700. The motion mechanism 40 drives multiple rotating claws holding the film-tearing protrusions 810 to move the film-tearing protrusions 810. The claws 50 rotate and move along a preset film-tearing trajectory, so that the film 800 is detached from the product 700 along with the film-tearing protrusion 810 and wrapped around the film-tearing protrusion 810. This realizes the function of automatically and simultaneously tearing the film 800 off multiple products 700, improving the film-tearing efficiency. In addition, since the film-tearing protrusion 810 protrudes from the film 800, by setting the motion mechanism 40 to drive multiple rotating claws 50 to clamp the film-tearing protrusion 810 for film tearing, the probability of multiple rotating claws 50 contacting the surface of the product 700 can be reduced, thereby reducing the risk of scratching the product 700.

[0157] The film-tearing device 100 of this application embodiment realizes the above-mentioned multi-claw synchronous film-tearing method by setting a position acquisition module 20, a dispensing mechanism 30, a motion mechanism 40, multiple rotating grippers 50 and a controller 60, which can improve film-tearing efficiency and reduce the risk of scratching the product 700.

[0158] Please see Figure 4In this embodiment, the motion mechanism 40 includes a first linear module 41, a second linear module 42, a third linear module 43, and multiple rotary drive members 44. The second linear module 42 is connected to the first linear module 41 and moves along the Y-axis under the drive of the first linear module 41; the third linear module 43 is connected to the second linear module 42 and moves along the X-axis under the drive of the second linear module 42; the multiple rotary drive members 44 are connected to and spaced apart from the third linear module 43 and move along the Z-axis under the drive of the third linear module 43; multiple rotary grippers 50 are respectively connected to the multiple rotary drive members 44, and the multiple rotary grippers 50 rotate under the drive of their respective rotary drive members 44. The first linear module 41, the second linear module 42, and the third linear module 43 can all be linear slides, and the multiple rotary drive members 44 can all be drive motors. This improves the accuracy of the motion mechanism 40 in moving and rotating the multiple rotary grippers 50.

[0159] In some other embodiments, the motion mechanism 40 drives the multiple rotating grippers 50 to move. When the motion mechanism 40 drives the multiple rotating grippers 50 to the corresponding position, the controller 60 controls the rotation drive 44 of the multiple rotating grippers 50 to run so that the multiple rotating grippers 50 can rotate. This application embodiment does not specifically limit this.

[0160] Please see Figure 5 In this embodiment, each of the multiple rotating grippers 50 includes a gripping drive assembly 52, a first gripper 53, and a second gripper 54. The gripping drive assembly 52 is connected to the rotation drive member 44 of the motion mechanism 40 to move and rotate under the drive of the motion mechanism 40; the first gripper 53 is connected to the gripping drive assembly 52; the second gripper 54 is connected to the gripping drive assembly 52 and is disposed opposite to the first gripper 53. The first gripper 53 and the second gripper 54 are used to move closer or further apart from each other under the drive of the gripping drive assembly 52 to grip or release the film-tearing protrusion 810. This improves the accuracy of the multiple rotating grippers 50 in gripping the film-tearing protrusion 810 to remove the film 800 from the surface of the product 700.

[0161] Please refer to the following: Figure 6 and Figure 7 In this embodiment, each of the multiple rotating grippers 50 further includes a first support member 55 and a second support member 56. The first support member 55 is disposed on the first clamping member 53 and extends into the second clamping member 54, and the first support member 55 has a first support portion 552; the second support member 56 is disposed on the second clamping member 54 and extends into the first clamping member 53, and the second support member 56 has a second support portion 562. The first support portion 552 and the second support portion 562 are disposed opposite to each other, and the movement directions of the first support portion 552 and the second support portion 562 are opposite to the movement directions of the first clamping member 53 and the second clamping member 54.

[0162] When the first clamping member 53 and the second clamping member 54 clamp the tear-off protrusion 810, the clamping drive assembly 52, driven by the motion mechanism 40, moves along the preset tear-off trajectory by clamping the tear-off protrusion 810 through the first clamping member 53 and the second clamping member 54. The clamping drive assembly 52 rotates, causing the film 800 to be wound and supported on the first support part 552 and the second support part 562 until the film 800 is separated from the product 700. After the film 800 is separated from the product 700, the first clamping member 53 and the second clamping member 54 move away from each other and release the tear-off protrusion 810. The first support part 552 and the second support part 562 move closer to each other when the first clamping member 53 and the second clamping member 54 move away from each other and detach from the torn film 800.

[0163] In this embodiment, the clamping drive assembly 52 includes a clamping drive member 521 and two fixing members 522. The clamping drive member 521 is connected to the corresponding rotary drive member 44. The clamping drive member 521 can be a gripper motor or a gripper cylinder. The two fixing members 522 are connected to the clamping drive member 521 and are spaced apart. The clamping drive member 521 can drive the two fixing members 522 to move closer or further away from each other. Each of the two fixing members 522 has a mounting groove 5222a that is oppositely arranged on the side of the two fixing members 522. The first clamping member 53 and the second clamping member 54 are respectively engaged in the mounting grooves 5222a of the two fixing members 522, and can be fixed in the corresponding mounting grooves 5222a by bolts (not shown). By opening mounting slots 5222a in the two fasteners 522 for securing the first clamping member 53 and the second clamping member 54, it is easy to quickly install the first clamping member 53 and the second clamping member 54. Furthermore, the first clamping member 53 and the second clamping member 54 are positioned by the corresponding mounting slots 5222a, which helps to improve the accuracy of the alignment of the first clamping member 53 and the second clamping member 54.

[0164] In this embodiment, both fixing members 522 include a mounting block 5221 and a connecting block 5222. The mounting block 5221 is connected to the clamping drive member 521. A first mounting hole 5221a is provided on the mounting block 5221 to facilitate quick fixing of the mounting block 5221 to the clamping drive member 521 by bolts. The connecting block 5222 is vertically disposed on the mounting block 5221, and the side of the connecting block 5222 near the other fixing member 522 is flush with the side of the mounting block 5221 near the other fixing member 522. A mounting groove 5222a is formed on the side of the connecting block 5222 near the other fixing member 522. 5222a extends from one end of the connecting block 5222 away from the corresponding mounting block 5221 to the other end, thereby facilitating the insertion of the first clamping member 53 and the second clamping member 54 into the corresponding mounting groove 5222a. The connecting block 5222 has a second mounting hole 5222b communicating with the mounting groove 5222a. The first clamping member 53 and the second clamping member 54 have connecting holes 5311 corresponding to the second mounting hole 5222b, thereby facilitating the quick fixation of the first clamping member 53 and the second clamping member 54 to the corresponding connecting block 5222 by passing bolts through the second mounting hole 5222b and the connecting hole 5311.

[0165] In this embodiment, the first clamping member 53 includes a first connecting portion 531 and a first clamping portion 532 disposed on the first connecting portion 531, and the second clamping member 54 includes a second connecting portion 541 and a second clamping portion 542 disposed on the second connecting portion 541. The first connecting portion 531 and the second connecting portion 541 are respectively connected to and spaced apart from the two fixing members 522 of the clamping drive assembly 52. ​​The first connecting portion 531 and the second connecting portion 541 are specifically engaged in the mounting groove 5222a opened in the corresponding fixing member 522. The connecting hole 5311 is opened in the first connecting portion 531 and the second connecting portion 542. On the second connecting part 541, the clamping drive member 521 drives the first connecting part 531 and the second connecting part 541 to move closer or further apart through two fixing members 522. The first clamping part 532 and the second clamping part 542 are arranged opposite to each other. The first clamping part 532 and the second clamping part 542 are used to clamp or release the tear film protrusion 810. The first support member 55 is provided on the first connecting part 531 and the first support member 552 is located on the same side of the second clamping part 542. The second support member 56 is provided on the second connecting part 541 and the second support member 562 is located on the same side of the first clamping part 532. By providing a first clamping part 532 and a second clamping part 542 to clamp or release the film 800, and by providing a first support part 552 and a second support part 562 on the same side of the second clamping part 542 and the same side of the first clamping part 532 respectively, the mutual movement relationship between the first support part 552 and the second support part 562 can be reversed compared to the mutual movement relationship between the first clamping part 532 and the second clamping part 542. This facilitates the first support part 552 and the second support part 562 in supporting the wound film 800 when the first clamping part 532 and the second clamping part 542 clamp the tearing protrusion 810, and also facilitates the first support part 552 and the second support part 562 in detaching from the wound film 800 when the first clamping part 532 and the second clamping part 542 release the tearing protrusion 810.

[0166] Please refer to further details. Figure 8 and Figure 9 In this embodiment, at least one of the first clamping portion 532 and the second clamping portion 542 is provided with a clamping protrusion 5321 on the side closest to the other. There can be multiple clamping protrusions 5321 and they are spaced apart. Specifically, the clamping protrusions 5321 can be serrated. By providing the clamping protrusions 5321, the friction between the first clamping portion 532 and the second clamping portion 542 and the film-tearing protrusion 810 can be increased, which is beneficial to improving the stability during film tearing. In addition, since the contact area between the clamping protrusions 5321 and the film-tearing protrusion 810 is small, when the first clamping portion 532 and the second clamping portion 542 move away from each other, it is easy for the first clamping portion 532 and the second clamping portion 542 to quickly separate from the film-tearing protrusion 810.

[0167] In this embodiment, both the first clamping part 532 and the second clamping part 542 have a relief arc surface 5322 on the side opposite to each other. The relief arc surface 5322 is used to avoid the film 800 when the first support part 552 and the second support part 562 support the torn film 800. After the film 800 is torn off, the first clamping part 532 and the second clamping part 542 clamp the film tearing protrusion 810 to form a fulcrum, and the first support part 552 and the second support part 562 support the wound film 800 and form two other fulcrums. By providing an abutment arc surface 5322 on the side of the first clamping part 532 and the second clamping part 542 away from each other, the contact between the first clamping part 532 and the second clamping part 542 and the wound film 800 can be reduced, thereby reserving a certain amount of moving space for the first clamping part 532 and the second clamping part 542, and facilitating the quick removal of the wound film 800 from the rotating jaw 50 when the first clamping part 532 and the second clamping part 542 release the tearing protrusion 810.

[0168] In this embodiment, the first support member 55 further includes a first extension 551 disposed on the first connecting portion 531 and extending to the second connecting portion 541, and a first support portion 552 disposed vertically at one end of the first extension 551 near the second connecting portion 541. The second support member 56 further includes a second extension 561 disposed on the second connecting portion 541 and extending to the first connecting portion 531. The first extension 551 and the second extension 561 are parallel to each other, and the second support portion 562 is disposed vertically at one end of the second extension 561 near the first connecting portion 531. By setting the first extension 551 and the second extension 561 to be parallel to each other, interference between the first extension 551 and the second extension 561 during movement can be avoided. By setting the first support 552 vertically at the end of the first extension 551 near the second connecting part 541, and setting the second support 562 vertically at the end of the second extension 561 near the first connecting part 531, the mutual movement relationship between the first support 552 and the second support 562 can be reversed with the mutual movement relationship between the first clamping part 532 and the second clamping part 542. This facilitates the first support 552 and the second support 562 in supporting the wound film 800 and in detaching the wound film 800.

[0169] In this embodiment, both the first connecting part 531 and the second connecting part 541 are provided with insertion holes 5312. The first extension part 551 and the second extension part 561 are respectively inserted into the insertion holes 5312 provided in the first connecting part 531 and the second connecting part 541, so as to facilitate the connection of the first support member 55 and the second support member 56 with the first clamping member 53 and the second clamping member 54 respectively.

[0170] In this embodiment, the first connecting portion 531 has a clearance groove 5313 for avoiding the second extension portion 561, and the second connecting portion 541 has a clearance notch 5411 for avoiding the first extension portion 551. The clearance groove 5313 is located between the first clamping portion 532 and the first extension portion 551, and the clearance notch 5411 is located on the side of the second extension portion 561 away from the second clamping portion 542. By providing the clearance groove 5313 and the clearance notch 5411, interference with the second connecting portion 541 and the first connecting portion 531 can be avoided when the first extension portion 551 and the second extension portion 561 move relative to each other, and it is beneficial to improve the compactness of the overall structure of the rotating gripper 50.

[0171] In some other embodiments, by adjusting the positions of the first extension 551 and the second extension 561, a clearance notch 5411 for avoiding the second extension 561 can also be opened on the first connecting portion 531, and correspondingly, a clearance groove 5313 for avoiding the first extension 551 can be opened on the second connecting portion 541. This application embodiment does not specifically limit this.

[0172] In this embodiment, both the first support portion 552 and the second support portion 562 have a support arc surface 5521 on the side opposite to each other for supporting the torn film 800. By providing the support arc surface 5521 to support the torn film 800, the support area for the film 800 can be increased, thereby improving the stability of supporting the torn film 800. In addition, when the torn film 800 is wound and supported on the first clamping portion 532, the second clamping portion 542, the first support portion 552, and the second support portion 562, the support arc surface 5521 provided on the first support portion 552 and the second support portion 562 can make the wound film 800 approximately cylindrical. This allows for a certain amount of movement space to be reserved for the first clamping part 532 and the second clamping part 542, which facilitates the first clamping part 532 and the second clamping part 542 moving away from each other to loosen the tear film protrusion 810. In addition, the cylindrical film 800 has a stable structure and is not easily deformed when the first support part 552 and the second support part 562 are detached from the film 800, thereby facilitating the quick removal of the wound film 800 from the rotating jaw 50.

[0173] Please refer to it again. Figure 6 and Figure 7In this embodiment, a support protrusion 5521a is provided on the support arc surface 5521. There can be multiple support protrusions 5521a, which are spaced apart on the support arc surface 5521. By providing support protrusions 5521a, the wound film 800 is supported at multiple points. Without reducing the stability of supporting the film 800, the contact area with the film 800 can be reduced, which is conducive to the rapid separation of the first support part 552 and the second support part 562 from the wound film 800.

[0174] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application.

[0175] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A multi-claw synchronous film-tearing method, applied to a film-tearing device, the film-tearing device comprising a motion mechanism and a plurality of rotating claws connected to the motion mechanism, the motion mechanism driving the plurality of rotating claws to move simultaneously to tear off the film from the surfaces of multiple products, characterized in that, The multi-claw synchronous film-tearing method includes: Obtain the position information of the first ends of the thin film on the surfaces of multiple products; Based on the position information of the first end of the film, the dispensing mechanism is controlled to apply adhesive to the surface of the first end of the film on the product surface so as to cure and form a tear-off protrusion. The motion mechanism is controlled to drive multiple rotating jaws to respectively clamp the tear-off protrusions on the film on the surface of multiple products; The motion mechanism is controlled to drive the multiple rotating jaws holding the tear film protrusion to rotate and move along a preset tear film trajectory, so that the film is detached from the product along with the tear film protrusion and wrapped around the tear film protrusion. The preset tearing trajectory has a synchronization point located between the start and end points of the preset tearing trajectory. The start point of the preset tearing trajectory is the tearing protrusion on the film, and the end point of the preset tearing trajectory corresponds to the end of the film. The step of "controlling the motion mechanism to drive the multiple rotating jaws holding the tearing protrusion to rotate and move along the preset tearing trajectory" includes: The motion mechanism is controlled to drive multiple rotating jaws holding the tearing protrusion to rotate and move from the starting point to the synchronization point along the preset tearing trajectory. Monitor whether the multiple rotating grippers reach the synchronization point; Based on the arrival of multiple rotating grippers at the synchronization point, the motion mechanism is controlled to cause the multiple rotating grippers to pause their movement at the synchronization point; Monitor whether the time during which the multiple rotating grippers pause at the synchronization point reaches a first preset time; Based on the fact that the time during which the multiple rotating grippers pause at the synchronization point reaches the first preset time, the motion mechanism is controlled to drive the multiple rotating grippers to continue rotating along the preset film-tearing trajectory and move towards the endpoint.

2. The multi-claw synchronous film-tearing method as described in claim 1, characterized in that, The preset tearing trajectory also has a first tensioning point, and the step of "controlling the motion mechanism to drive the multiple rotating jaws holding the tearing protrusion to rotate and move along the preset tearing trajectory" further includes: The motion mechanism is controlled to drive multiple rotating jaws holding the tear-off film protrusion to move from the starting point to the first tensioning point at a first moving angle, so that the first end of the film is away from the product; Monitor whether the multiple rotating grippers reach the first tension point; Based on the fact that the multiple rotating jaws reach the first tensioning point, the motion mechanism is controlled to drive the multiple rotating jaws to rotate at the first tensioning point by a first rotation angle; Based on the fact that the multiple rotating grippers complete the first rotation angle at the first tensioning point, the motion mechanism is controlled to drive the multiple rotating grippers to continue moving towards the endpoint along the preset film tearing trajectory.

3. The multi-claw synchronous film-tearing method as described in claim 2, characterized in that, The preset tearing trajectory also has a second tensioning point, and the step of "controlling the motion mechanism to drive the multiple rotating jaws holding the tearing protrusion to rotate and move along the preset tearing trajectory" further includes: Based on the fact that the multiple rotating grippers complete the first rotation angle at the first tensioning point, the motion mechanism is controlled to drive the multiple rotating grippers to move from the first tensioning point to the second tensioning point at a second movement angle; Monitor whether the multiple rotating grippers reach the second tension point; Based on the fact that the multiple rotating jaws reach the second tension point, the motion mechanism is controlled to drive the multiple rotating jaws to rotate at the second tension point by a second rotation angle; Based on the fact that the multiple rotating grippers complete the second rotation angle rotation at the second tensioning point, the motion mechanism is controlled to drive the multiple rotating grippers to continue moving towards the endpoint along the preset film tearing trajectory.

4. The multi-claw synchronous film-tearing method as described in claim 3, characterized in that, The preset tearing trajectory also has turning points, and the step of "controlling the motion mechanism to drive the multiple rotating jaws holding the tearing protrusion to rotate and move along the preset tearing trajectory" further includes: Based on the fact that the multiple rotating grippers complete the second rotation angle at the second tension point, the motion mechanism is controlled to drive the multiple rotating grippers to move from the second tension point to the turning point at a third movement angle; Monitor whether the multiple rotating grippers reach the turning point; Based on the arrival of the multiple rotating grippers at the turning point, the motion mechanism is controlled to drive the multiple rotating grippers to rotate and simultaneously continue moving towards the endpoint along the preset film-tearing trajectory.

5. The multi-claw synchronous film-tearing method as described in claim 4, characterized in that, The first rotation angle ranges from 20 degrees to 40 degrees, and the second rotation angle ranges from 50 degrees to 100 degrees.

6. The multi-claw synchronous film-tearing method as described in claim 4, characterized in that, The preset tearing trajectory also has multiple corner reduction points. The starting point, the first tensioning point, the second tensioning point, the turning point, the multiple corner reduction points, and the ending point are connected sequentially to form a polygonal preset tearing trajectory. The step of "controlling the motion mechanism to drive the multiple rotating jaws holding the tearing protrusion to rotate and move along the preset tearing trajectory" further includes: Monitor whether the multiple rotating grippers reach the corner deceleration point; Based on the fact that the multiple rotating grippers reach the corner deceleration point, the motion mechanism is controlled to reduce the speed at which the multiple rotating grippers move. Monitor whether the time it takes for the motion mechanism to reduce the speed of the multiple rotating grippers to reach a second preset time; Based on the time it takes for the motion mechanism to reduce the speed of the multiple rotating grippers to reach the second preset time, the motion mechanism is controlled to restore the moving speed of the multiple rotating grippers and continue to move towards the endpoint along the preset film-tearing trajectory.

7. The multi-claw synchronous film-tearing method as described in claim 4, characterized in that, The preset tearing trajectory also has an extension point, which is located between the endpoint and the turning point. The step of "controlling the motion mechanism to drive the multiple rotating jaws holding the tearing protrusion to rotate and move along the preset tearing trajectory" further includes: Monitor whether the multiple rotating grippers have reached the endpoint; Based on the fact that the multiple rotating grippers have reached the endpoint, the motion mechanism is controlled to drive the multiple rotating grippers to continue moving along the preset film-tearing trajectory toward the extension point, so that the end of the film is completely detached from the product.

8. A film-tearing device using the multi-claw synchronous film-tearing method as described in any one of claims 1-7, characterized in that, include: Sports organizations; Multiple rotating grippers, connected to the motion mechanism, are used to simultaneously peel off the film from the surfaces of multiple products under the drive of the motion mechanism; A position acquisition module is used to acquire position information of the first ends of the film on the surfaces of multiple products; A dispensing mechanism is used to apply adhesive to the surface of the first end of the film on the product surface based on the position information of the first end of the film so as to cure and form a tear-off protrusion. The controller is electrically connected to the motion mechanism and the plurality of rotating grippers respectively, and the controller is used for: The motion mechanism is controlled to drive multiple rotating jaws to respectively clamp the tear-off protrusions on the film on the surface of multiple products; The motion mechanism is controlled to drive multiple rotating jaws holding the tear-off protrusion to rotate and move along a preset tear-off trajectory, so that the film is detached from the product along with the tear-off protrusion and wrapped around the tear-off protrusion.

9. The film-tearing device as described in claim 8, characterized in that, Each of the aforementioned rotating grippers includes: A clamping drive assembly is connected to the motion mechanism to move and rotate under the drive of the motion mechanism; The first clamping member is connected to the clamping drive assembly; The second clamping member is connected to the clamping drive assembly and is disposed opposite to the first clamping member. The first clamping member and the second clamping member are used to move closer or further apart from each other under the drive of the clamping drive assembly to clamp or release the tear film protrusion.

Images